CN109454662A - A kind of manipulator fast replacing device - Google Patents
A kind of manipulator fast replacing device Download PDFInfo
- Publication number
- CN109454662A CN109454662A CN201811288284.3A CN201811288284A CN109454662A CN 109454662 A CN109454662 A CN 109454662A CN 201811288284 A CN201811288284 A CN 201811288284A CN 109454662 A CN109454662 A CN 109454662A
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- CN
- China
- Prior art keywords
- bindiny mechanism
- block
- movable
- piston
- connecting plate
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
- B25J15/0458—Connections means having a frustroconical member
Abstract
The invention discloses a kind of manipulator fast replacing devices, including piston, retaining mechanism, the first bindiny mechanism for being connect with driving portion and the second bindiny mechanism for being connect with crawl section, first bindiny mechanism is equipped with inner cavity, piston is located in inner cavity, it is detachably connected between first bindiny mechanism and the second bindiny mechanism by retaining mechanism, piston is connect with retaining mechanism, piston stress is moved up along its axis direction, and the first bindiny mechanism and the second bindiny mechanism is made to realize connection or separation.The present invention can be improved the accuracy of replacement, help that manipulator is enable effectively to grab object.
Description
Technical field
The present invention relates to a kind of manipulator technology more particularly to a kind of manipulator fast replacing devices.
Background technique
With economic and science and technology development, in the industrial production automation equipment with more and more extensive, manipulator is
One of widely used infrastructure device in automatic field is used for the crawl or assembly of each object.Generally, existing machinery
Hand includes driving portion and crawl section, and driving portion drives crawl section motion capture object.Since existing crawl section function is more single,
The object that fixed position or fixed shape can only be grabbed, greatly reduces the adaptability of manipulator, is not able to satisfy different types of
The crawl of object, therefore manipulator needs that different application scenarios should be carried out the replacement of its crawl section, but existing machinery is quick-moving
The chuck side mechanism of changing device realizes that based on quick-change tool, and this stomata is past to be embedded in the stomata jet of chuck side outer surface
Toward because injection air pressure is big, cause the replacement of crawl section inaccurate.
Summary of the invention
For overcome the deficiencies in the prior art, the purpose of the present invention is to provide a kind of manipulator fast replacing device, Neng Gouti
The accuracy of height replacement, helps that manipulator is enable effectively to grab object.
The purpose of the present invention adopts the following technical scheme that realization:
A kind of manipulator fast replacing device, including piston, retaining mechanism, the first bindiny mechanism for being connect with driving portion and
The second bindiny mechanism for connecting with crawl section, first bindiny mechanism are equipped with inner cavity, and the piston is located in inner cavity,
It is detachably connected between first bindiny mechanism and the second bindiny mechanism by retaining mechanism, the piston and retaining mechanism connect
It connects, the piston stress is moved up along its axis direction, realizes the first bindiny mechanism and the second bindiny mechanism
Connection or separation.
Further, the piston is flexibly connected with retaining mechanism, first bindiny mechanism and the second bindiny mechanism card
It connects, first bindiny mechanism includes mounting plate and connecting plate, and the mounting plate and connecting plate are affixed, and the inner cavity is formed in peace
Between loading board and connecting plate, the mounting plate is offered in second bindiny mechanism for connecting with driving portion for for even
The link slot that fishplate bar passes through, the connecting plate and link slot clamping.
Further, the mounting plate is equipped with the first stomata and the second stomata, and first stomata is located at the second stomata
Upside, first stomata, the second stomata be connected to inner cavity, be also provided with the first air flue on the mounting plate, described
One air flue is connected to inner cavity, and the second air flue is offered in second bindiny mechanism, when the connecting plate and link slot are clamped, institute
State the first air flue and the connection of the second air flue.
Further, the retaining mechanism includes movable block and elastic component, is fixed with limited block on one end of the piston,
The limited block is located in inner cavity, and the movable block is located at the downside of limited block, and one end of the movable block is solid by elastic component
Due on connecting plate, offering movable through-hole on the connecting plate, the activity through-hole is connected to inner cavity, the movable block it is another
One end wears the movable through-hole, and the limited block and movable block movable contact, the elastic component occur elastic deformation, make described
Movable block is mobile toward the inside of movable through-hole or outside.
Further, the movable block is set as wedge shape, and the limited block is equipped with the limit conical surface, the limit conical surface and work
One end movable contact of motion block is additionally provided with protection department on the limited block, and the protection department is located at the downside of the limit conical surface, described
Movable block is equipped with protection notch, and the protection department is matched with protection notch.
Further, second bindiny mechanism be equipped with the first link block and the second link block, first link block,
Second link block is located in link slot, and first link block is located at the upside of the second link block, first link block and company
Fishplate bar abuts, and second link block is abutted with movable block.
Further, the quantity of the movable block is set as three, circumferencial direction of three movable blocks around limited block
It is uniformly distributed.
Further, the retaining mechanism further includes resistance stick, and the resistance stick is fixed on connecting plate, the second connection machine
The connection through-hole for passing through for resistance stick is also provided on structure, the resistance stick is clamped with through-hole is connect.
Further, inductive rod is fixed on the other end of the piston, the mounting plate is equipped with magnetic induction mounting hole,
It is equipped with inductor in the magnetic induction mounting hole, passes through magnetic connection between the inductor and inductive rod.
Further, be also provided with multiple tooling holes in second bindiny mechanism, multiple tooling holes be used for it is more
A clamping portion connection.
Compared with prior art, the beneficial effects of the present invention are:
It connect the first bindiny mechanism with driving portion, the second bindiny mechanism connect with crawl section, further, the first connection
It is detachably connected between mechanism and the second bindiny mechanism by retaining mechanism realization, so that can be real between driving portion and crawl section
It is now electrically connected, driving portion drives crawl section motion capture object.In the present invention, piston is connect with retaining mechanism, using piston by
Power is moved up along its axis direction, and the movement of piston driving retaining mechanism connects the first bindiny mechanism and second
Mechanism realizes connection or separation, and then the stroke by controlling piston limits the first bindiny mechanism and the second bindiny mechanism
Perhaps separation can realize the connection or separation of crawl section for connection, achieve the purpose that quick-replaceable difference crawl section, can mention
The accuracy of height replacement meets the crawl of different types of object to greatly improve the adaptability of manipulator, helps to make machine
Tool hand can effectively grab object.
Detailed description of the invention
Fig. 1 is schematic cross-sectional view of the invention；
Fig. 2 is a kind of schematic cross-sectional view of angle of the first bindiny mechanism in the present invention；
Fig. 3 is the schematic cross-sectional view of first bindiny mechanism's another kind angle in the present invention；
Fig. 4 is the structural schematic diagram of the first bindiny mechanism in the present invention；
Fig. 5 is the schematic cross-sectional view of the second bindiny mechanism in the present invention；
Fig. 6 is the present invention looks up structural representation of the second bindiny mechanism in the present invention；
Fig. 7 is the schematic cross-sectional view of Fig. 6；
In figure: 1, piston；2, the first bindiny mechanism；3, the second bindiny mechanism；4, inner cavity；5, mounting plate；6, connecting plate；7,
Link slot；8, the first stomata；9, the second stomata；10, the first air flue；11, the second air flue；12, movable block；13, elastic component；14,
Limited block；15, the conical surface is limited；16, loose axoide；17, inclined-plane is connected；18, stick is hindered；19, inductive rod；20, inductor；21, work
Fill hole；22, orientational cone-shaped surface；23, inclined-plane is positioned；24, it covers；25, movable through-hole；26, protection department；27, notch is protected.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
A kind of manipulator fast replacing device as shown in figs. 1-7, including piston 1, retaining mechanism, for what is connect with driving portion
First bindiny mechanism 2 and the second bindiny mechanism 3 for connecting with crawl section, the first bindiny mechanism 2 are equipped with inner cavity 4, piston 1
It in inner cavity 4, is detachably connected between the first bindiny mechanism 2 and the second bindiny mechanism 3 by retaining mechanism, piston 1 and lock
Tight mechanism connection, 1 stress of piston are moved up along its axis direction, make the first bindiny mechanism 2 and the second connection machine
Structure 3 realizes connection or separation.
On the basis of above structure, it connect the first bindiny mechanism 2 with driving portion, the second bindiny mechanism 3 and crawl section
Connection is further detachably connected between the first bindiny mechanism 2 and the second bindiny mechanism 3 by retaining mechanism realization, so that
It can be realized and be electrically connected between driving portion and crawl section, driving portion drives crawl section motion capture object.In the present embodiment, piston
1 connect with retaining mechanism, is moved up using 1 stress of piston along its axis direction, and piston 1 drives retaining mechanism dynamic
Make, so that the first bindiny mechanism 2 and the second bindiny mechanism 3 is realized connection or separation, and then limit by the stroke of control piston 1
Making the connection of the first bindiny mechanism 2 and the second bindiny mechanism 3, perhaps separation can realize the connection or separation of crawl section,
Achieve the purpose that quick-replaceable difference crawl section, the degree of automation is higher, the accuracy of replacement can be improved, to greatly improve machine
The adaptability of tool hand meets the crawl of different types of object, helps that manipulator is enable effectively to grab object.
As preferable embodiment a kind of in the present embodiment, piston 1 is flexibly connected with retaining mechanism, the first bindiny mechanism
2 and second bindiny mechanism 3 be clamped, the first bindiny mechanism 2 includes mounting plate 5 and connecting plate 6, and mounting plate 5 and connecting plate 6 are fixed to be connected
It connects, inner cavity 4 is formed between mounting plate 5 and connecting plate 6, and mounting plate 5 is opened in the second bindiny mechanism 3 for connecting with driving portion
Equipped with the link slot 7 for passing through for connecting plate 6, connecting plate 6 and link slot 7 are clamped.More specifically, in one end of connecting plate 6
On can be equipped with capping 24, to improve the air-tightness of inner cavity 4.
Specifically, mounting plate 5 is equipped with the first stomata 8 and the second stomata 9, and the first stomata 8 is located at the upper of the second stomata 9
Side, the first stomata 8, the second stomata 9 are connected to inner cavity 4, are also provided with the first air flue 10 on mounting plate 5, the first air flue 10 with
Inner cavity 4 is connected to, and the second air flue 11 is offered in the second bindiny mechanism 3, when connecting plate 6 and link slot 7 are clamped, 10 He of the first air flue
The connection of second air flue 11, makes gas circuit that can realize connection.
It is emphasized that retaining mechanism includes movable block 12 and elastic component 13, limited block is fixed on one end of piston 1
14, limited block 14 is located in inner cavity 4, and movable block 12 is located at the downside in inner cavity 4 and being located at limited block 14, one end of movable block 12
Be fixed on connecting plate 6 by elastic component 13, it is preferable that the elastic component 13 be spring, i.e., the both ends of spring respectively with movable block
12, connecting plate 6 connects, so that one end of movable block 12 is fixed on connecting plate 6 by spring.Activity is offered on connecting plate 6
Through-hole 25, movable through-hole 25 are connected to inner cavity 4, and the other end of movable block 12 wears movable through-hole 25, limited block 14 and movable block
Elastic deformation occurs for 12 movable contacts, elastic component 13, keeps movable block 12 mobile toward the inside of movable through-hole 25 or outside.
Specifically, movable block 12 is set as wedge shape, and limited block 14 is equipped with the limit conical surface 15, the limit conical surface 15 and movable block
12 one end movable contact.
Further, protection department 26 is additionally provided on limited block 14, which is set as vertical structure, and protection department 26
In the downside of the limit conical surface 15, movable block 12 is equipped with protection notch 27, which is with rectangular notch, protection
Portion 26 is matched with protection notch 27, i.e. the outer wall of protection department 26 and movable block 12, which is able to achieve, mutually to be supported.
In the present embodiment, the second bindiny mechanism 3 is equipped with the first link block and the second link block, the first link block, the
Two link blocks are located in link slot 7, and the first link block is located at the upside of the second link block, and the first link block is abutted with connecting plate 6,
Second link block is abutted with movable block 12.
Specifically, orientational cone-shaped surface 22 is set on the outer wall of connecting plate 6, which is located at the upper of movable through-hole 25
Side correspondingly, on the first link block has positioning inclined-plane 23, supports orientational cone-shaped surface 22 mutually with positioning inclined-plane 23, so that the
One link block and connecting plate 6 abut.
More specifically, the other end of movable block 12 is equipped with loose axoide 16, there is connection inclined-plane on the second link block
17, support loose axoide 16 mutually with inclined-plane 17 is connect, so that the second link block is abutted with movable block 12.
It is noted that the quantity of the movable block 12 in the present embodiment is set as three, three movable blocks 12 are around limited block
14 circumferencial direction is uniformly distributed, i.e., the interval between any two movable block 12 is equal.
It should be noted that retaining mechanism further includes resistance stick 18, resistance stick 18 is fixed on connecting plate 6, the second bindiny mechanism 3
On be also provided with for for the connection through-hole that passes through of resistance stick 18, resistance stick 18 to be clamped with through-hole is connect.Using resistance stick 18 with connect lead to
Hole clamping overcomes 6 radial rotating of connecting plate, that is, can avoid the first bindiny mechanism 2 and generate radial rotating, and can guarantee the first air flue
10 are connected with the second air flue 11.
More preferably embodiment is that inductive rod 19 is fixed on the other end of piston 1, and mounting plate 5 is pacified equipped with magnetic induction
Hole is filled, is equipped with inductor 20 in magnetic induction mounting hole, passes through magnetic connection between inductor 20 and inductive rod 19.The present embodiment
In, inductive rod 19, piston 1, limited block 14 are connected by screw to together, an entirety are formed, so that inductive rod 19 and limit
Block 14 can be with 1 synchronizing moving of piston.
In addition, being also provided with multiple tooling holes 21 in the second bindiny mechanism 3, multiple tooling holes 21 are used for and multiple clamping portions
Connection.The purpose that can reach the multiple and different crawl sections of quick-replaceable is conducive to the adaptability and working efficiency that improve manipulator.
In use, connecting mounting plate 5 with driving portion, the second bindiny mechanism 3 connect with crawl section, makes the second bindiny mechanism
3 are located at the lower section of the first bindiny mechanism 2, support resistance stick 18 mutually with positioning inclined-plane 23 with through-hole clamping, orientational cone-shaped surface 22 is connect
Top, even if connecting plate 6 is clamped with the second bindiny mechanism 3, even if also the first bindiny mechanism 2 and the second bindiny mechanism 3 carry out
Clamping.Pressed gas is passed through into the first stomata 8, the upper surface stress of piston 1 is moved down along its axis direction, 1 band of piston
Dynamic 14 synchronizing moving of limited block keeps limited block 14 mobile toward the direction of close movable block 12, so that limited block 14 drops to three
Between movable block 12, and then support limited block 14 mutually with three movable blocks 12, i.e. the one of the limit conical surface 15 and movable block 12
End is mutually supported, and 12 stress of movable block is made, and elastic deformation occurs for elastic component 13, and elastic component 13 compresses, and makes movable block 12 toward activity
The outside of through-hole 25 is mobile, so that the other end of movable block 12 passes through movable through-hole 25 and is moved to the outside of movable through-hole 25,
Loose axoide 16 is mutually supported with inclined-plane 17 is connect, i.e. three movable blocks 12 are abutted with the realization of the second link block, loose axoide 16
One upward thrust is generated to connection inclined-plane 17, the second bindiny mechanism 3 is made integrally to generate a upward active force, so that
Orientational cone-shaped surface 22 is close to positioning inclined-plane 23 can so as to realize the connection of the first bindiny mechanism 2 and the second bindiny mechanism 3
The connection for enough realizing crawl section, realizes the replacement of different crawl sections, and connection structure is more reliable, helps that manipulator is enable to have
Effect crawl object.
In addition, being passed through pressed gas into the second stomata 9, the lower surface stress of piston 1 is moved up along its axis direction,
Piston 1 drives 14 synchronizing moving of limited block, keeps the past direction far from movable block 12 of limited block 14 mobile, that is, limits the conical surface 15 and live
One end of motion block 12 separates, so that limited block 14 rises to the top of three movable blocks 12, elastic component 13 resets, and makes movable block 12
The medial movement of the past movable through-hole 25 of stress, so that the other end of movable block 12 passes through movable through-hole 25 and is moved to movable through-hole
25 inside, loose axoide 16 with connection inclined-plane 17 separate, and then orientational cone-shaped surface 22 with positioning inclined-plane 23 separate, make hinder stick 18 and
It connects through-hole and realizes separation, separated even if connecting plate 6 is realized with the second bindiny mechanism 3, even if also the first bindiny mechanism 2 and second
Bindiny mechanism 3 realizes separation, so as to realize the separation of crawl section, to replace different crawl sections.
Instantly when body of calming the anger suddenly disappears, piston 1 can generate the trend for moving up reset, but due to protection department 26 and prevent
Shield notch 27 matches, and supports protection department 26 and the outer wall of movable block 12 mutually, and protection department 26 can prevent movable block 12 from recycling
It resets, that is, movable block 12 is prevented to be advantageously implemented the automatically lock of retaining mechanism toward the medial movement of movable through-hole 25, prevent the
One bindiny mechanism 2 and the separation suddenly of the second bindiny mechanism 3, can effectively protect device and the safety of personnel.
To sum up, three 12 horizontal movements of movable block are driven by the axial movement of a limited block 14, realizes at 3 points and determines
The function of the heart, and limit the conical surface 15 and one end of movable block 12, loose axoide 16 and connect inclined-plane 17, orientational cone-shaped surface 22 and fixed
Position inclined-plane 23 is bonded in high precision can achieve the purpose that resetting, realize connection or separation using the elastic force of elastic component 13.
When piston 1 is moved down along its axis direction, make three movable blocks 12 simultaneously to activity by limiting the conical surface 15
The outside of through-hole 25 moves horizontally, and is all consistent by three 12 sizes of movable block in this present embodiment, so when three activities
When block 12 is displaced outwardly simultaneously, each loose axoide 16 can be contacted with connection inclined-plane 17 simultaneously, when loose axoide 16 makes the second company
Being supported when 3 entirety of connection mechanism moves up by orientational cone-shaped surface 22 and positioning inclined-plane 23 can make in the second bindiny mechanism 3
The heart keeps resetting, improves the accuracy of replacement.
In order to adapt to the different crawl section of quick-replaceable, crawl section is connected by tooling hole 21 with the second bindiny mechanism 3
It connects.By being passed through pressed gas into the second stomata 9, so that piston 1 is moved up along its axis direction, make limited block 14 toward far
Direction from movable block 12 is mobile, and elastic component 13 resets, so that movable block 12 resets, so that the first bindiny mechanism 2 and the
Two bindiny mechanisms 3 realize separation, i.e. the second bindiny mechanism 3 can unload from the first bindiny mechanism 2, connect crawl section with first
Connection mechanism 2 realizes separation, by the program of driving portion goes that corresponding second bindiny mechanism 3 is combined to can reach quick-replaceable institute again
Need the purpose of crawl section.
In order to realize the accurate control in automation engineering, it is equipped with magnetic induction mounting hole on mounting plate 5, pacifies in magnetic induction
Dress is equipped with inductor 20 in hole, by magnetic connection between inductor 20 and inductive rod 19, since inductive rod 19 can be with piston 1
Synchronizing moving, therefore the movement of piston 1 can be monitored by inductor 20, be conducive to improve automation control performance in this way, be conducive to
Improve the accuracy of replacement.
The above embodiment is only the preferred embodiment of the present invention, and the scope of protection of the present invention is not limited thereto,
The variation and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed range.
Claims (10)
1. a kind of manipulator fast replacing device, it is characterised in that: including piston, retaining mechanism, first for being connect with driving portion
Bindiny mechanism and the second bindiny mechanism for connecting with crawl section, first bindiny mechanism are equipped with inner cavity, the piston
In inner cavity, it is detachably connected between first bindiny mechanism and the second bindiny mechanism by retaining mechanism, the piston
It is connect with retaining mechanism, the piston stress is moved up along its axis direction, makes the first bindiny mechanism and second
Bindiny mechanism realizes connection or separation.
2. manipulator fast replacing device as described in claim 1, it is characterised in that: the piston is flexibly connected with retaining mechanism,
First bindiny mechanism and the clamping of the second bindiny mechanism, first bindiny mechanism includes mounting plate and connecting plate, the peace
Loading board and connecting plate are affixed, and the inner cavity is formed between mounting plate and connecting plate, and the mounting plate is used to connect with driving portion,
The link slot for passing through for connecting plate, the connecting plate and link slot clamping are offered in second bindiny mechanism.
3. manipulator fast replacing device as claimed in claim 2, it is characterised in that: the mounting plate is equipped with the first stomata and the
Two stomatas, first stomata are located at the upside of the second stomata, and first stomata, the second stomata are connected to inner cavity, described
The first air flue is also provided on mounting plate, first air flue is connected to inner cavity, offers second in second bindiny mechanism
When air flue, the connecting plate and link slot are clamped, first air flue and the connection of the second air flue.
4. manipulator fast replacing device as claimed in claim 3, it is characterised in that: the retaining mechanism includes movable block and elasticity
Part is fixed with limited block on one end of the piston, and the limited block is located in inner cavity, and the movable block is located under limited block
One end of side, the movable block is fixed on connecting plate by elastic component, and movable through-hole, the work are offered on the connecting plate
Dynamic through-hole is connected to inner cavity, and the other end of the movable block wears the movable through-hole, and the limited block connects with movable block activity
Elastic deformation occurs for touching, the elastic component, keeps the movable block mobile toward the inside of movable through-hole or outside.
5. manipulator fast replacing device as claimed in claim 4, it is characterised in that: the movable block is set as wedge shape, the limit
Block, which is equipped with, limits the conical surface, one end movable contact of the limit conical surface and movable block, is additionally provided with protection department on the limited block,
The protection department is located at the downside of the limit conical surface, and the movable block is equipped with protection notch, the protection department and protection notch phase
Cooperation.
6. the manipulator fast replacing device as described in claim 4 or 5, it is characterised in that: second bindiny mechanism is equipped with
First link block and the second link block, first link block, the second link block are located in link slot, first link block position
In the upside of the second link block, first link block is abutted with connecting plate, and second link block is abutted with movable block.
7. manipulator fast replacing device as claimed in claim 6, it is characterised in that: the quantity of the movable block is set as three,
Three movable blocks are uniformly distributed around the circumferencial direction of limited block.
8. manipulator fast replacing device as claimed in claim 7, it is characterised in that: the retaining mechanism further includes resistance stick, described
Resistance stick is fixed on connecting plate, and the connection through-hole for passing through for resistance stick, the resistance are also provided in second bindiny mechanism
Stick is clamped with through-hole is connect.
9. manipulator fast replacing device as claimed in claim 4, it is characterised in that: be fixed with induction on the other end of the piston
Stick, the mounting plate are equipped with magnetic induction mounting hole, inductor, the inductor and induction are equipped in the magnetic induction mounting hole
Pass through magnetic connection between stick.
10. manipulator fast replacing device as described in claim 1, it is characterised in that: be also provided in second bindiny mechanism
Multiple tooling holes, multiple tooling holes with multiple clamping portions for connecting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811288284.3A CN109454662A (en) | 2018-10-31 | 2018-10-31 | A kind of manipulator fast replacing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811288284.3A CN109454662A (en) | 2018-10-31 | 2018-10-31 | A kind of manipulator fast replacing device |
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| CN109454662A true CN109454662A (en) | 2019-03-12 |
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| CN201811288284.3A Pending CN109454662A (en) | 2018-10-31 | 2018-10-31 | A kind of manipulator fast replacing device |
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Cited By (1)
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| CN112248020A (en) * | 2020-10-10 | 2021-01-22 | 安徽工业大学 | Quick automatic interface device of end execution device of mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112248020A (en) * | 2020-10-10 | 2021-01-22 | 安徽工业大学 | Quick automatic interface device of end execution device of mechanical arm |
| CN112248020B (en) * | 2020-10-10 | 2022-03-29 | 安徽工业大学 | Quick automatic interface device of end execution device of mechanical arm |
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Application publication date: 20190312 |
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